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INTERNATIONAL TRANSACTIONS ON ELECTRICAL ENERGY SYSTEMS

Int. Trans. Electr. Energ. Syst. (2016)


Published online in Wiley Online Library (wileyonlinelibrary.com). DOI: 10.1002/etep.2249

Subsea DC collection grid with high power security for offshore


renewables
Dragan Jovcic1, Huibin Zhang1*,, David Findlay2, AZ Annuar2 and Bin Li2
1

School of Engineering, University of Aberdeen, Aberdeen, U.K.


2
AlbaTERN Ltd, Edinburgh, U.K.

SUMMARY
This paper presents a subsea DC collection grid with renewable power parks which inherently has robust
DC fault protection and exible expansion capability. By virtue of the applied DC/DC converter and the
proposed DJ-Index Clamping control, different sections of the subsea grid are functionally interconnected
and in the meantime decoupled in the event of DC faults. The faults are selectively isolated without the need
for fast DC circuit breakers and system recovery from the faulty DC intertie branch is achieved by a
coordinated operation strategy on DC/DC converters and DC disconnectors (or standard AC circuit
breakers). A 200-MW test system is presented which consists of two 100-MW renewable energy sources
(tidal stream and wind) and DC collection/transmission grids. The simulation results conrm the N-1
security of the presented topology and good control performance over a range of DC faults. Copyright
2016 John Wiley & Sons, Ltd.
key words:

power system control; power system operation; power system protection; power system
simulation; renewable energy integration; smart grid

1. INTRODUCTION
Historically the absence of high DC voltage conversion techniques and fault isolation components hindered the wider use of DC for transmission. Today the meshed DC grid with a large number of converters has been envisaged as both economically and technically feasible, and subsea applications as
such will potentially see its strong application in collecting sustainable power from offshore renewables, or in the interconnection of different electric transmission systems [1,2].
A power transmission/distribution system demands operation with a high level of reliability and especially for the subsea power systems the system protection schemes need to be critically evaluated.
This is demonstrated with the Ocean Observatory projects like NEPTUNE and others [3,4], where
the marine environment requires heavier capital investment while imposes difculty in system accessibility, compared against land systems.
Fault transient study and management in DC grids are signicantly more difcult compared with
AC systems [1,5,6]. The low impedance with DC circuit will allow the fault current to rise fast and
signicantly without current zero crossings. Should the concept of DC circuit breaker (CB) still be applied on wider grid scale, the stringent requirements on DC grid security will require the fault currents
to be interrupted in a few milliseconds, typically 25 ms. This is an order of magnitude faster than in
AC grids and in this case DC breakers will have to be located at the terminations of all transmission
lines/cables to avoid grid-wide voltage collapse. DC CBs with such high performances may take
30% of VSC converter cost, and up to date such DC CBs are not commercially available [7].

*Correspondence to: Huibin Zhang, School of Engineering, University of Aberdeen, Aberdeen AB24 3UE, U.K.

E-mail: hbzhang8961@hotmail.com

Copyright 2016 John Wiley & Sons, Ltd.

D. JOVCIC ET AL.

Nowadays, wind energy generation technologies are mature, while the technologies for converting
ocean powers are still in infancy. Because of inherent characteristics of ocean energy especially within
the ocean wave category, a number of converter concepts are present, and it is expected that multiunit
tidal current and ocean wave plants will constitute the norm of the future [8]. Their grid interconnection is complex and in many cases DC collection systems are preferred.
The DC/DC converters enable multiple functions in DC grids, and they can simultaneously perform
as DC CBs [9,10]. Under fault conditions, this DC/DC converter naturally restricts the fault current
and isolates the faulty segments, from the remaining functional DC system, avoiding a grid-wide voltage collapse. Therefore with the presence of such DC/DC converters, the system component ratings
are reduced and high-performance DC CBs may not be necessary. Instead, a DC disconnector (or standard AC CB) can be used for the purpose of permanent fault isolation or routine maintenance.
DC/DC converters can also connect DC systems of different voltage levels and with different DC
technologies. This is of particular interest in the circumstance of lack of standardizations at the
beginning of HVDC grid application. DC/DC converters might become crucial elements to facilitate
a meshed DC grid of different voltage levels tailored to local demands, and with exibility for future
expansion. The downside of the DC/DC converters is they have approximately 180%200% VSC
converter costs which imply that the number of converters and their location should be critically
evaluated [11].
The conventional point to point HVDC topology has N-0 redundancy with lowest transmission reliability. A high reliability is achieved through redundancy of parts in the traditional power system,
where N-1 and N-2 are generally accepted for the interconnected transmission systems [12,13]. In
the presented test system, N-1 redundancy is desired for the transmission part of the subsea DC grid.
In the event of a fault, on DC cable or converter, the fault will be isolated without affecting the normal
operation of the remainder of the system. Nevertheless, the development of meshed DC grids with
DC/DC converters has not been studied yet.
In this paper, a 200-MW subsea DC collection grid is studied, as shown in Figure 1, which consists
of two renewable energy sources (tidal stream and wind) and DC collection/transmission grids. The
goal is to develop N-1 secure DC system with good connectivity and exible expansion. Section 2 describes the 200-MW subsea DC grid for collecting renewable energies from the sea. Section 3 focuses

Figure 1. The 200-MW subsea DC grid.


Copyright 2016 John Wiley & Sons, Ltd.

Int. Trans. Electr. Energ. Syst. (2016)


DOI: 10.1002/etep

DC COLLECTION GRID WITH HIGH POWER SECURITY

on the grid control and protection schemes and section 4 on its modeling in Matlab/Simulink, and the
simulation results to demonstrate the functionality of this DC grid under small signal disturbances and
fault conditions are presented in section 5.

2. SUBSEA DC COLLECTION GRID


The subsea DC grid consists of two branches, branch 1 for a 100-MW wind energy farm and branch 2
for a 100-MW tidal/wave energy farm with their specications shown in Figure 1. The topology of
LCL DC/DC converter is shown in Figure 2. The 100-MW wind farm has 20 individual 5-MW wind
generators and the tidal array consists of 50 individual 2-MW tidal turbines. The local farmlevel collector systems are assumed to be of star/radial topology for simplicity and economic reasons, while the
ring or meshed topology can also be used for increased reliability.
The two DC collection systems are assumed built at different stages with different local DC voltages, i.e. a 60-kV substation for wind farm and a 40-kV substation for wave/tidal stream farm. Each
branch connects to an onshore 200-MW VSC station using 250-kV cable in a radial scheme. The onshore station has higher capacity in order to receive full power from the offshore system in case that
one station/cable is at fault. A 40-kV/60-kV DC/DC converter and a DC intertie are installed to enable
power exchange between the two branches. The insertion of this intertie DC/DC converter enables a
grid-level loop transmission topology offering N-1 transmission redundancy.
The intertie DC/DC converter is located at the low voltage side substation (40 kV) facilitating a power
exchange between the two branches at a higher voltage (60 kV) to reduce the loss. At the high voltage end
substation a fast disconnector or a common AC CB is used for the permanent isolation of intertie faults.
With the topology presented in Figure 1, a single DC fault at any point in this transmission loop will
not affect the power transfer capability of the whole grid. If there is DC fault on one of the 250kVdc
transmission lines, the faulty transmission line will be isolated by the AC side CB and the corresponding 200-MW transmission DC/DC converter. In these circumstances, the transmission 200-MW DC/
DC converter naturally restricts the power and current feed into the faulty lines; consequently the voltage on local congregation bus will increase, because of the continued power infeed from plant. The
design solution includes the droop control on the intertie 40-kV/60-kV/100-MW DC/DC converter
which will respond by redirecting the excess power from the faulty branch to the other branch. The
above processes can be achieved in seamless manner and with no power interruption.
If there is a fault on 60-kV DC transmission intertie, the intertie DC/DC converter will limit the fault
current infeed from branch 2 40-kV system and prevent fault propagation. The fault current infeed
from branch 1 into 60-kV system is limited close to zero by the wind farm 6.5-kV/60-kV DC/DC converters and the transmission DC/DC converter. The DC CB on the end of DC intertie is mechanical
design with small current rating (or fast disconnector) and enables permanent cable isolation. Once
the fault is isolated the power transfer can resume through both 250-kV DC cables.
In practice, this grid may also be used to exchange power between onshore AC station 1 and AC
station 2 through subsea corridors during low renewable energy power.

Figure 2. The LCL DCL/DC converter [14].


Copyright 2016 John Wiley & Sons, Ltd.

Int. Trans. Electr. Energ. Syst. (2016)


DOI: 10.1002/etep

D. JOVCIC ET AL.

3. SYSTEM CONTROL AND PROTECTION


The subsea DC grid integrates energy plants from resources of wind and tidal/wave current. Consequently the DC grid experiences a load prole characterized with uid energy, which depends on
the uid speed. The variable speed energy conversion systems extract the maximum power by appropriate tracking control. The power extracted from wind or tide/wave is collected in the local substation
and boosted up to 250kVdc for long distance transmission through multiple paths to onshore VSC
converters.
3.1. Renewable plant and DC/DC control coordination
When the uid speed is lower than the rated value, the main goal of the renewable plant control
system is to get the maximum input power. The wind generator in the presented platform uses
the concept of Doubly Fed Induction Generator (DFIG); however, to reduce the platform complexity the DFIG wind energy conversion system is modeled as a current source regulated by active
rectiers.
The tidal energy generators use permanent magnet synchronous generator (PMSG) concept and
their AC voltages are diode rectied to give a dc output between 2kVdc and 4 kVdc as the
tidal/wave speed is varying between 2 m/s and 4 m/s. The maximum power tracking is implemented
by local DC/DC converter E.
With synchronous generators, assuming that the voltage drop caused by current through synchronous reactance can be ignored, then the rectied voltage Urec is proportional to generator rotational
speed . Under this condition, if one power point on the maximum power curve is known, then the
other power points on the maximum power curve can be calculated [15]. This relationship can also
be described using rectied voltage and torque, as follows:
T ref

 2
urec

T 1
u1

(1)

where Tref is the torque command/reference, urec is the real time rectied voltage, and T1 is the torque
corresponding to a rectied voltage u1 at maximum power tracking status. The actual torque on the
shaft Tacu can be estimated by measuring power Pm and speed: by Tacu = Pm / .
The AC/DC converters 1 and 3 work in constant DC voltage control mode. They maintain the
transmission line voltage at 250kVdc and regulate the AC side q-channel outputs such as reactive
power in line with Grid Code requirements. In the test system, the reference of the reactive power
is set to be zero.
All the DC/DC converters assume LCL topology which is based on two AC/DC IGBT-based
and an internal LCL circuit [9,10]. The control strategy is discussed in [14]. Three reference frames
can be utilized for decoupling the active and reactive power as shown in Figure 3. The frame dq represents a frame aligned with the capacitor voltage uc, and P1Q1 and P2Q2 are two coordinate frames
at AC/DC ports 1 and 2 from Figure 2, positioned at u1ac and u2ac. idq and iPQ represent phases
of uiac and iiac in frames dq and PiQi respectively, and Mid, Miq are control indexes, where i = 1,2.

Figure 3. Coordinate frames for LCL DC/DC converter [14].


Copyright 2016 John Wiley & Sons, Ltd.

Int. Trans. Electr. Energ. Syst. (2016)


DOI: 10.1002/etep

DC COLLECTION GRID WITH HIGH POWER SECURITY

Some essential relations for decoupling the active power and reactive power are shown in equations 26.
P1 uc I 1d
(2)
P2 uc I 2d

(3)

Q1 M 1 U 1acm I 1Q

(4)

Q2 M 2 U 2acm I 2Q

(5)

K c U c U cq P1 P2

(6)

where I1d and I2d are the d components of converter currents i1ac and i2ac in the dq frame, M1 and
M2 are the modulation indexes for port 1 and 2 control, respectively, U1acm and U2acm are rms
values of u1ac and u2ac, respectively, I1Q and I2Q are Q components of the converter currents in
P1Q1 and P2Q2 frames, respectively, Kc is a system constant, and Ucq is the q component of capacitor voltage uc in the dq frame.
Equations 26 show the active power and reactive power in the two ports of the DC/DC
converter can be regulated by I1acd and I2acd in the dq frame, and I1Q and I2Q in P1Q1 and P2Q2
frames. Particularly equation 6 implies that Ucq is an indicator for power balance of the DCDC
converter. By maintaining Ucq to zero, power balance of the two terminals is ensured. To improve
the dynamic response, a feed forward of Ucq is also used in the control of power (voltage or
torque) terminal.
As shown in Figure 4, converters A, B, and D work in voltage control mode and employ same control blocks. In normal operation they function to maintain the low voltage terminal DC voltage to be
constant, Converter E enables maximum power tracking of the tidal energy generator which is in
torque control mode. The intertie DC/DC Converter C works in power mode combined with voltage
droop feedback from both DC voltages, for improved system stability. If there is disturbance in one
branch, the energy in the other branch can be used to stabilize the troubled system.
3.2. Converter DJ-index clamping
In the event of DC faults, the DC/DC converter limits the dc fault current naturally to close to
rated level [10]. However it is desired to halt the feed-in converter current from the healthy terminal into the faulty circuit as to enable opening a disconnector or AC CB at very low current. The
DC/DC converter fault current can be reduced by manipulating the modulation index M. As shown
in Figure 4, all the control indices (M1d, M1q, M2d, M2q) are modulated by the proposed DJ-Index
Clamping scheme.
This scheme provides a converter modulation index control in a square wave manner, as shown
in Figure 5. All DC/DC converters use this modulation for DC faults in order to reduce fault current infeed and to attempt recovery after fault isolation. Two approaches can be utilized, namely
Droop-approach and Zero-approach. In Figure 5, indicates the Droop-approach and is
Zero-approach.
Droop-approach manages the modulation index reference clamping with a droop control manner. In
normal operation the DC link voltages are in the safe zone as dened in Figure 5. When one of the
normalized dc link voltages of two converter terminals is between D = 0.2pu and Z = 0.85pu (which
is a DC fault situation), the clamping reference Mff is proportional to the DC link voltage, and when
the dc link voltage is less than 0.2 pu, Mff is brought to zero. An alternative approach is Zero-approach,
Mff ip ops to 0 immediately when a DC fault is detected. Droop-approach favors a DC grid where
large power variation can be expected and zero-approach performs faster in a circuit with sluggish
damping factor.
While DC current is reduced to zero the faulted cable will be isolated by DC disconnectors. The
DC/DC converters have no information that isolation is completed, and therefore they will periodically
attempt to increase modulation index in order to restore the power transfer. If Mff < Mth is detected for a
time duration of Ts, the DC/DC converter is enabled for a period of Ts, and if during this period the DC
voltage increases above a threshold Mth, the DC/DC converter will return back to normal operation
(fault is isolated); otherwise the converter modulation indices are clamped to be zero (fault still
Copyright 2016 John Wiley & Sons, Ltd.

Int. Trans. Electr. Energ. Syst. (2016)


DOI: 10.1002/etep

D. JOVCIC ET AL.

Figure 4. Control block for DC/DC converter A, B, C, D, and E.

present). The recovery cycle is repeated 2 times if the DC voltage does not recover. In the test system,
Mth = 0.6 and Ts = 25 ms.
Furthermore, during normal operation if low DC voltage is detected for 100 ms at either side of the
DC/DC converter then the DC/DC converter will be permanently tripped. This control logic is represented by Block signal in Figure 5, where U1dcnom and U2dcnom are the nominal DC voltages at two
converter terminals.

4. SYSTEM AVERAGE VALUE MODELING


This section introduces the average value modeling of subsea DC grid components, including VSC
converters, DC/DC converters, and the renewable energy sources. The switching of power electronics
will require signicant computing time if detailed modes are to be used in the test system. To achieve
acceptable performance in terms of accuracy and speed, average-value models (AVM) are used
which eliminates the signicant computing burden from detailed power-electronic building blocks
(PEBB) [16].
Copyright 2016 John Wiley & Sons, Ltd.

Int. Trans. Electr. Energ. Syst. (2016)


DOI: 10.1002/etep

DC COLLECTION GRID WITH HIGH POWER SECURITY

Figure 5. The DJ-Index Clamping (DJIC)

4.1. Converter models


Because there is no energy storage component in the circuit, in the AVM VSC model the voltage and
current on the ac side and dc side of are related by algebraic relations, as shown by equations 710.
This model avoids topological changes which are required if switches are employed in the VSC model.
U dc
Msint
2


U dc
2
Msin t 
ucb
2
3


U dc
4
Msin t 
ucc
2
3





1
2
4
ica Msint icb Msin t 
icc Msin t 

2
3
3
uca

idc

(7)
(8)
(9)
(10)



4
where Udc is the dc link voltage; M is
idc  12 ica Msint icb Msin t  2
3 icc Msin t  3
the modulation index.
The DC/DC converter is modeled by Simulink nonlinear state space model directly in dq rotating
frame [17]. The interface between AC and DC is expressed as [17]:
2
I idc M id I id M iq I iq

where i = 1,2, for port 1 and 2 respectively.

(11)

4.2. Offshore energy park model


The platform shown in Figure 1 with 20 or 50 renewable energy extraction units will be difcult to be
simulated because of signicant computing time. In this study they are represented as two single
equivalent 100-MW generators [18]; subsequently converters B and E are also modeled 100MW DC/DC units.
Copyright 2016 John Wiley & Sons, Ltd.

Int. Trans. Electr. Energ. Syst. (2016)


DOI: 10.1002/etep

D. JOVCIC ET AL.

The wind and tidal mechanical sources are modeled based on Betz theory with corresponding uid
densities (1.024 kg/m3 for air and 1025 kg/m3 for water). The 100-MW variable speed wind generator
is of DFIG type and outputs electrical power between 21.6 MW and 100 MW as the wind speed varies
between 6 m/s and 10 m/s.
In terms of tidal energy farm, a single 100-MW PMSG Simulink model is used to represent 50 tidal
generation units of 2 MW. The turbine outputs electrical power between 12.5 MW and 100 MW as the
tidal stream speed changes between 2 m/s and 4 m/s [19]. A diode rectier is used with the rectied DC
voltage varying between 2 kV and 4 kV.
The DC/DC converters are designed as presented in [9].

5. SIMULATION RESULTS
The subsea DC grid test system is built with Matlab/Simulink. Under normal operation, the two
branches in the subsea grid extract powers from offshore plants and transmit to onshore stations.
The intertie DCDC converter transfers power as requested by the dispatcher in the range
100 MW to +100 MW. System response to small signal disturbances is studied then followed by
two DC faults. The fault locations are shown in Figure 1. The DC faults are tested with a wind speed
of 8 m/s (half the rated power, i.e. 50 MW) and tidal stream speed of 4 m/s (full power, i.e. 100 MW) At

Figure 6. Simulation results for 200-MW DC collection grid for step changes in offshore energy.
Copyright 2016 John Wiley & Sons, Ltd.

Int. Trans. Electr. Energ. Syst. (2016)


DOI: 10.1002/etep

DC COLLECTION GRID WITH HIGH POWER SECURITY

the moment when the fault occurs, the intertie DC/DC converter C is dispatching about 0.15 pu tidal
power from branch 2 into branch 1.
5.1. Small signal response
As shown in Figure 6 (a), in branch 1, the wind speed changes in steps from 6 m/s to 8 m/s and then to
10 m/s at a time interval of 1 s, then back to 8 m/s at 3 s. In the branch 2, the tidal speed changes in steps
from 2 m/s to 3 m/s and then to 4 m/s at an interval of 1 s, and back to 3 m/s at 3 s, as shown in Figure 6
(b). Before 4 s, there is no power dispatching order on DC intertie converter C, and at 4 s, the grid operator issues a 0.2pu power dispatchment from branch 2 to branch 1. All the labels and measurement
points are given in Figure 1.
The responses of each converter conrm the stability of the test system and the ability to track renewable power changes. In Figure 6 (c), (d), (i), and (j), it is seen that controllers keep regulated variables at reference values, in particular the DC voltages are maintained at 60-kV and 40-kV bus. The
diode rectied DC voltage Udcrec is proportional to the tidal speed, while the DC link voltage Udcvsc of
active rectier is maintained constant by the constant voltage control of DC/DC converter B, as shown
in Figure 6 (g) and (h) respectively. Also the reactive power control loops operate normally for wide
range of power orders, as shown in Figure 6 (e) and (f).
The intertie DCDC converter transfers power as requested by dispatcher, and independently of the
powers in the branches. After 4 s, DC intertie converter C dispatches required power as indicated by
PC1 and PC2. Consequently there is power drop on PD2 and Pac2, and more power delivered through
PA2 and Pac1, as shown in Figure 6 (c) and (d). This DC/DC converter can also be set to operate in
other control modes, like DC voltage control.

Figure 7. Simulation results for DC fault 1 at 2.5 s on branch 1 250kVdc transmission line.
Copyright 2016 John Wiley & Sons, Ltd.

Int. Trans. Electr. Energ. Syst. (2016)


DOI: 10.1002/etep

D. JOVCIC ET AL.

5.2. DC Fault 1
Figure 7 shows the system responses for a branch 1 transmission cable DC fault at 2.5 s. The local
DC/DC converters limit the fault current and prevent fault propagation. The faulted 250kVdc transmission line is permanently isolated by opening AC CB1 and blocking transmission DC/DC converter A
(100 ms after the low DC voltage is detected, as introduced in section 3). Both wind and tidal energy
farm operate normally during after the fault, and full power is still delivered using the intertie branch
after the faulted cable is isolated. The DC/DC converter C responds to DC voltage increase and increases power transfer resulting in re-dispatch of branch 1 power (50 MW) to branch 2. There will
be no DC voltage collapse on 60-kV (or 40-kV) DC cable.
5.3. DC Fault 2
DC fault 2 is a pole to pole short circuit fault at 2.5 s on interconnecting cable ac, and Figure 8 shows the
system responses. During the fault, DC/DC converters A, B, and C initially limit the current and then reduce current to zero according to control in Figure 5. Within 10 ms after the DC fault is detected, DC/CB
is open and the fault is permanently isolated. The DJ indices of DC/DC converters A and B increase after
25 ms, and because fault is cleared, they automatically resume normal operation. This process is completed within 50 ms before the tripping time of DC/DC converters. The DC/DC C also uses DJ index
clamping control, but it sees a permanent fault and it is tripped after 100 ms. In this case, branch 1 recovers from DC fault 2 and full wind power is transferred but VSC1 power slightly reduces to compensate for the loss of intertie power. Tidal energy farm operates normally during after the fault and branch 2
remains full functionality. Because DCCB is open and DC/DC converter C is tripped, the tidal power is
fully transmitted to onshore utility 2 through branch 2 and VSC slightly increases power transfer.
The details of DCCB opening process and converter resuming process are illustrated in Figure 9.
UDCF2 is the local voltage which drops from 60 kV to zero at 2.5 s because of short circuit fault.

Figure 8. Simulation results for DC fault 2 at 2.5 s, and branch 1 recovery.


Copyright 2016 John Wiley & Sons, Ltd.

Int. Trans. Electr. Energ. Syst. (2016)


DOI: 10.1002/etep

DC COLLECTION GRID WITH HIGH POWER SECURITY

Figure 9. DCCB opening process and the recovery of DC/DC converters A and B (Droop-approach).

The current through DCCB IDCCB is zero after opening DCCB; DC/DC converters A and B begin to
resume after DCCB opening and the power delivery is recovered within 50 ms. This is indicated by
IB (current out of DC/DC converter B) and IA1 (into DC/DC A).
In this test, during the fault conditions a chopper with resistor is used to maintain the local 6.5-kV dc
voltage constant, which is a common practice with wind farms.

6. CONCLUSION
A subsea DC collection and transmission grid with high power security is presented. By virtue of the
applied LCL DC/DC converters, the electric power within the DC grid is collected locally at an intermediate voltage level and delivered at a transmission level while fault currents are limited. With the
proposed DJ-Index Clamping control, DC/DC converters can reduce fault current to zero and they
can recover when DC fault is isolated by other DC switchgear. It is demonstrated that interties between
DC lines can be built by using a DC/DC converter and mechanical DC switchgear. The DC/DC converter in the intertie can be made to respond to DC voltage at either of the two DC lines and in this way
it can rapidly re-dispatch power in case of DC faults. Two-branch system is shown in this article but
expansion to multiple branches is possible in the future. The simulation results conrm small signal
stability and responses for two representative DC faults.

7. LIST OF SYMBOLS
7.1. Subscript
j = 1,2
k = 1,2,3,4,5,6,7,8

port 1,2 of DC/DC converter


IGBT switches in DC/DC converters

Copyright 2016 John Wiley & Sons, Ltd.

Int. Trans. Electr. Energ. Syst. (2016)


DOI: 10.1002/etep

D. JOVCIC ET AL.

7.2. Symbol
Cdj
IA1
IB
ica, icb, icc
IDCCB
Ijd
Ijdref
IjP
Ijq
IjQ
IjQref
Kc
Lj
M
Mff
MDJ
Mj
Mjd
Mjq
Mth
Pac1
Pac2
PAj
PB
PCj
PDj
PE
Pj
Pm
Prec
Ptidal
Pvsc
Pwind
Qac1
Qac2
Rjdc
Sk
Tacu
Tref
Ts
T1
uc
uca, ucb, ucc
Ucd
Ucq
Ucqref
Udc
UdcAj
UdcB
UdcE
UdcC
UdcDj

DC link capacitance at port j of DC/DC converter (F)


current at port 1 of DC/DC converter A (A)
current at port 2 of DC/DC converter B (A)
phase current in AVM model of AC/DC converter 1,3 (A)
current through DC circuit breaker (A)
d component of DC/DC converter currents ijac (A)
reference of d component of DC/DC converter currents ijac (A)
P component of converter current at port j in PjQj frame (A)
q component of DC/DC converter currents ijac (A)
Q component of converter current at port j in PjQj frame (A)
reference of Q component current at port j in PjQj frame (A)
system constant
inductance at port j of DC/DC converter (H)
modulation index of AVM model of AC/DC converter
clamping reference of modulation index in the DJ-Index scheme
control index in the DJ-Index protection scheme
modulation index for port j
d component of modulation index for port j
q component of modulation index for port j
threshold of modulation index in the DJ-Index protection scheme
active power in AC station 1 (W)
active power in AC station 2 (W)
active power at port j of DC/DC converter A (W)
active power at port 2 of DC/DC converter B (W)
active power at port j of DC/DC converter C (W)
active power at port j of DC/DC converter D (W)
active power at port 2 of DC/DC converter E (W)
active power in port j of DC/DC converter (W)
mechanical power of wind turbine (W)
active power from AC/DC converter 2 (W)
tide power from tidal energy farm (W)
active power from AC/DC converter 4 (W)
active wind power from wind energy farm (W)
reactive power in AC station 1 (var)
reactive power in AC station 2 (var)
resistance at port j ()
IGBT switches in DC/DC converter
the actual torque on the shaft (NM)
torque command reference (NM)
period in DJ-Index protection scheme (ms)
the torque of turbine shaft (NM)
capacitor voltage of DC/DC converter (V)
phase voltage in AVM model of AC/DC converter 1,3 (V)
d component of capacitor voltage in the dq frame (V)
q component of capacitor voltage in the dq frame (V)
reference of q component of capacitor voltage in the dq frame (V)
DC link voltage of AVM model of AC/DC converter 1,3 (V)
DC link voltage at port j of DC/DC converter A (V)
DC link voltage at port 2 of DC/DC converter B (V)
DC link voltage at port 2 of DC/DC converter E (V)
DC link voltage at port 2 of DC/DC converter C (V)
DC link voltage at port j of DC/DC converter D (V)

Copyright 2016 John Wiley & Sons, Ltd.

Int. Trans. Electr. Energ. Syst. (2016)


DOI: 10.1002/etep

DC COLLECTION GRID WITH HIGH POWER SECURITY

UDCF2
Udcrec
UdcU1
UdcU2
Udcvsc
uj
ujac
Ujacm
Ujdc
Ujdcnom
Ujpu
urec
Vtide
Vwind
U1dcref
j
jdq
jPQ

dq frame
PjQj frame

DC link voltage at fault point 2 (V)


DC link voltage of converter AC/DC 4 (V)
DC link voltage of converter AC/DC 1 (V)
DC link voltage of converter AC/DC 3 (V)
DC link voltage of converter AC/DC 2 (V)
rectied voltage at maximum wind power tracking status (V)
output voltage of port j (V)
rms voltage of ujac at port j (V)
DC link voltage at port j of DC/DC converter (V)
nominal DC voltage at converter port j (V)
per unit value of DC link voltage at port j of DC/DC converter C
the real time rectied voltage (V)
tide speed (m/s)
wind speed (m/s)
reference of DC link voltage at port 1 of DC/DC converter A, B, D
phase angle between dq frame and PjQj frame (rad)
phase of ijac in the dq frame (rad)
phase of ijac in the PjQj frame (rad)
rotational speed of turbine shaft (rad/s)
phase of capacitor voltage uc of DC/DC converter (rad)
synchronous frame positioned at capacitor voltage uc of DC/DC converter
synchronous frame positioned at AC voltage of port j of DC/DC converter
ACKNOWLEDGEMENTS

This work was supported by the Engineering and Physical Sciences Research Council [grant number
EP/K006428/1] and Scottish Funding Council with the European Regional Development Fund [grant number
LUPS/ERDF/2010/4/1/0164].

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